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1 files changed, 0 insertions, 56 deletions

diff --git a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino b/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino
deleted file mode 100644
index 767227b..0000000
--- a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
-
-MinIMU-9-Arduino-AHRS
-Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
-
-Copyright (c) 2011 Pololu Corporation.
-http://www.pololu.com/
-
-MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
-http://code.google.com/p/sf9domahrs/
-
-sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
-Julio and Doug Weibel:
-http://code.google.com/p/ardu-imu/
-
-MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
-under the terms of the GNU Lesser General Public License as published by the
-Free Software Foundation, either version 3 of the License, or (at your option)
-any later version.
-
-MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
-WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
-more details.
-
-You should have received a copy of the GNU Lesser General Public License along
-with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
-
-*/
-
-void Compass_Heading()
-{
-  float MAG_X;
-  float MAG_Y;
-  float cos_roll;
-  float sin_roll;
-  float cos_pitch;
-  float sin_pitch;
-  
-  cos_roll = cos(roll);
-  sin_roll = sin(roll);
-  cos_pitch = cos(pitch);
-  sin_pitch = sin(pitch);
-  
-  // adjust for LSM303 compass axis offsets/sensitivity differences by scaling to +/-0.5 range
-  c_magnetom_x = (float)(magnetom_x - SENSOR_SIGN[6]*M_X_MIN) / (M_X_MAX - M_X_MIN) - SENSOR_SIGN[6]*0.5;
-  c_magnetom_y = (float)(magnetom_y - SENSOR_SIGN[7]*M_Y_MIN) / (M_Y_MAX - M_Y_MIN) - SENSOR_SIGN[7]*0.5;
-  c_magnetom_z = (float)(magnetom_z - SENSOR_SIGN[8]*M_Z_MIN) / (M_Z_MAX - M_Z_MIN) - SENSOR_SIGN[8]*0.5;
-  
-  // Tilt compensated Magnetic filed X:
-  MAG_X = c_magnetom_x*cos_pitch+c_magnetom_y*sin_roll*sin_pitch+c_magnetom_z*cos_roll*sin_pitch;
-  // Tilt compensated Magnetic filed Y:
-  MAG_Y = c_magnetom_y*cos_roll-c_magnetom_z*sin_roll;
-  // Magnetic Heading
-  MAG_Heading = atan2(-MAG_Y,MAG_X);
-}